/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "oled.h"
#include "Kalman.h"
#include "24l01.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define Dist_ARR_SIZE 15
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void delay_us(uint16_t nus);
float calculateAverage(float arr[], int size) ;
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

KalmanFilter kfp;
float Q = 0.01; // 测量过程的协方差
float R = 0.1;  // 测量误差的协方差
float initialX = 0; // 初始状态估计值
float initialP = 1; // 初始估计误差的协方差

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
	uint8_t dist_arr_i=0;
	uint8_t txbuf[TX_PLOAD_WIDTH] = {0};
	float Dist_ARR[Dist_ARR_SIZE] = {0};
	float Kalman_Dist = 0;
	float dist_result = 0;
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_SPI1_Init();
  MX_USART1_UART_Init();
  MX_TIM2_Init();
  MX_TIM4_Init();
  /* USER CODE BEGIN 2 */

  while( 1 == NRF24L01_Check() ){
	  My_printf("NRF24L01_Check fail\r\n");
	  HAL_Delay(500);
  }

  My_printf("Sys RXD Mode\r\n");
  OLED_Init();
  kalmanFilterInit(&kfp, Q, R, initialX, initialP);
  NRF24L01_RX_Mode();

	OLED_ShowString(0,0,(uint8_t *)"Before filter:",12,1);
	OLED_ShowString(0,4,(uint8_t *)"After  filter:",12,1);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {

	  Start_Measure_Hight_Level_Time();

	  while( txbuf[0] != 0x01 ){
		  NRF24L01_RxPacket(txbuf);
	  }

	  USS_TRIG_Set();
	  delay_us(20);
	  USS_TRIG_Clr();

	  txbuf[0] = 0x00;

	  while( !Get_Time ){
		  LED_Toggle();
		  HAL_Delay(100);
	  }

	  if(Get_Time){
		  Get_Time = 0;
		  uint32_t time = Get_Hight_Level_Time();
		  Dist_ARR[dist_arr_i] = USS_Get_Distance((float)time/9);

		  dist_arr_i++;
		  if( dist_arr_i >= (Dist_ARR_SIZE-1) ) {
			  dist_arr_i = 0;
			  dist_result = calculateAverage(Dist_ARR, Dist_ARR_SIZE);
				
				
				dist_result = -3.1712 \
						-0.00000006*dist_result*dist_result*dist_result\
						+0.0002*dist_result*dist_result\
						+0.9591*dist_result;
				
				
			  OLED_Show_Decimal(50,1,dist_result,16,1);
			  Kalman_Dist = kalmanFilterUpdate( &kfp , dist_result);
			  OLED_Show_Decimal(50,5,Kalman_Dist,16,1);
		  }
	  }

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void delay_us(uint16_t nus)
{
	__HAL_TIM_SET_COUNTER(&htim4, 0);
	__HAL_TIM_ENABLE(&htim4);
	while (__HAL_TIM_GET_COUNTER(&htim4) < nus)
	{
	}
	__HAL_TIM_DISABLE(&htim4);
}

float calculateAverage(float arr[], int size)
{
    // 找出数组中的最大值和第二大值
    float max = arr[0];
    float secondMax = arr[1];
    for (int i = 1; i < size; i++) {
        if (arr[i] > max) {
            secondMax = max;
            max = arr[i];
        } else if (arr[i] > secondMax) {
            secondMax = arr[i];
        }
    }

    // 计算除最大值外的三个数的平均值
    float sum = 0;
    int count = 0;
    for (int i = 0; i < size; i++) {
        if (arr[i] != max) {
            sum += arr[i];
            count++;
        }
    }

    // 返回平均值
    return sum / count;
}








/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
